{"id":"https://openalex.org/W4226153627","doi":"https://doi.org/10.1109/access.2022.3164175","title":"Three-Dimensional Underwater Path Planning of Submarine Considering the Real Marine Environment","display_name":"Three-Dimensional Underwater Path Planning of Submarine Considering the Real Marine Environment","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4226153627","doi":"https://doi.org/10.1109/access.2022.3164175"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3164175","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3164175","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09745938.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09745938.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072442245","display_name":"Jun Fu","orcid":"https://orcid.org/0000-0001-6232-8085"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Fu","raw_affiliation_strings":["Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6232-8085","affiliations":[{"raw_affiliation_string":"Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112676864","display_name":"Teng Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Teng Lv","raw_affiliation_strings":["Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4576-2781","affiliations":[{"raw_affiliation_string":"Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075369962","display_name":"Li Bao","orcid":"https://orcid.org/0000-0001-6375-6575"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bao Li","raw_affiliation_strings":["Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027063663","display_name":"Zhiwen Ning","orcid":"https://orcid.org/0000-0002-2673-7751"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Ning","raw_affiliation_strings":["Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2673-7751","affiliations":[{"raw_affiliation_string":"Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102920522","display_name":"Yang Chang","orcid":"https://orcid.org/0000-0003-2140-4576"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Chang","raw_affiliation_strings":["Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation Engineering Teaching and Research Office, School of Electrical Engineering, Naval University of Engineering, Wuhan, China","institution_ids":["https://openalex.org/I2800710378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2800710378"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.783,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71078087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"37016","last_page":"37029"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/submarine","display_name":"Submarine","score":0.7878773212432861},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7743415236473083},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.6575068235397339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5803248882293701},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4761105477809906},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.4431948959827423},{"id":"https://openalex.org/keywords/marine-technology","display_name":"Marine technology","score":0.429179847240448},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3659719228744507},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3516104221343994},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.252164751291275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2325764298439026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19470149278640747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10910418629646301}],"concepts":[{"id":"https://openalex.org/C121327165","wikidata":"https://www.wikidata.org/wiki/Q2811","display_name":"Submarine","level":2,"score":0.7878773212432861},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7743415236473083},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.6575068235397339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5803248882293701},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4761105477809906},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.4431948959827423},{"id":"https://openalex.org/C22372391","wikidata":"https://www.wikidata.org/wiki/Q6764311","display_name":"Marine technology","level":2,"score":0.429179847240448},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3659719228744507},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3516104221343994},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.252164751291275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2325764298439026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19470149278640747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10910418629646301}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3164175","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3164175","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09745938.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6db25e4197c640c782cd257ff94bd4a6","is_oa":false,"landing_page_url":"https://doaj.org/article/6db25e4197c640c782cd257ff94bd4a6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 37016-37029 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3164175","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3164175","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09745938.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226153627.pdf","grobid_xml":"https://content.openalex.org/works/W4226153627.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W81238816","https://openalex.org/W204236760","https://openalex.org/W235791050","https://openalex.org/W1526050191","https://openalex.org/W1595667642","https://openalex.org/W1764572413","https://openalex.org/W2008074697","https://openalex.org/W2008659732","https://openalex.org/W2060518390","https://openalex.org/W2066226796","https://openalex.org/W2113023534","https://openalex.org/W2114260420","https://openalex.org/W2121399054","https://openalex.org/W2138761185","https://openalex.org/W2139775093","https://openalex.org/W2242923075","https://openalex.org/W2338163918","https://openalex.org/W2342400483","https://openalex.org/W2366512429","https://openalex.org/W2376994473","https://openalex.org/W2566202839","https://openalex.org/W2613500660","https://openalex.org/W2734821685","https://openalex.org/W2794046143","https://openalex.org/W2900861938","https://openalex.org/W2911283711","https://openalex.org/W2964063396","https://openalex.org/W2969709592","https://openalex.org/W2982527909","https://openalex.org/W2995439684","https://openalex.org/W3098327719","https://openalex.org/W6603223803"],"related_works":["https://openalex.org/W2349909505","https://openalex.org/W2357608514","https://openalex.org/W2727311809","https://openalex.org/W2349590521","https://openalex.org/W2358326180","https://openalex.org/W2363174912","https://openalex.org/W2463262380","https://openalex.org/W2374223995","https://openalex.org/W3127641510","https://openalex.org/W4390825629"],"abstract_inverted_index":{"The":[0,150],"submarine":[1,129,181],"is":[2,72,93,122,142],"an":[3,57],"underwater":[4,182],"ship":[5],"that":[6,154],"can":[7,157],"perform":[8],"a":[9,15,145,176],"variety":[10],"of":[11,21,28,63,117,128,161],"combat":[12],"missions":[13],"in":[14,43,114,132,144],"complex":[16,134],"marine":[17,30,40,45,112,135,147],"environment.":[18,136,149],"Path":[19],"planning":[20,131],"submarines":[22],"has":[23],"always":[24],"been":[25],"the":[26,44,61,66,75,85,100,104,110,115,118,126,133,140,155,159,162],"focus":[27],"military":[29],"engineering":[31],"research.":[32],"In":[33,95,137],"most":[34],"practical":[35],"applications,":[36],"there":[37],"are":[38],"numerous":[39],"physical":[41,106,111],"phenomena":[42],"environment,":[46,166,173],"such":[47],"as":[48],"pycnocline,":[49],"density":[50,168],"fronts,":[51],"mesoscale":[52],"eddy,":[53],"etc.,":[54],"which":[55,121],"have":[56],"important":[58],"impact":[59],"on":[60],"navigation":[62],"submarines.":[64],"First,":[65],"artificial":[67,86],"potential":[68,87],"field":[69,88],"heuristic":[70],"factor":[71],"introduced":[73],"into":[74],"ant":[76,89],"colony":[77,90],"algorithm":[78,141,156],"to":[79,102,124],"improve":[80],"its":[81],"convergence":[82],"speed,":[83],"and":[84,108,170,174],"optimization":[91],"(APF-ACO)":[92],"obtained.":[94],"addition,":[96],"this":[97,138],"article":[98],"uses":[99],"unit-body":[101],"reflect":[103],"regional":[105],"elements":[107],"quantifies":[109],"phenomenon":[113],"form":[116],"cost":[119],"function,":[120],"used":[123],"solve":[125],"problem":[127],"path":[130,177],"article,":[139],"tested":[143],"real":[146],"data":[148],"experimental":[151],"results":[152],"show":[153],"realize":[158],"utilization":[160],"ocean":[163,167,171],"sound":[164],"speed":[165],"environment":[169],"current":[172],"obtain":[175],"more":[178],"suitable":[179],"for":[180],"navigation.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}